37 papers
Match-Any-Events: Zero-Shot Motion-Robust Feature Matching Across Wide Baselines for Event Cameras
Ruijun Zhang, Hang Su, Kostas Daniilidis +1
Event cameras have recently shown promising capabilities in instantaneous motion estimation due to their robustness to low light and fast motions. However, computing wide-baseline…
OctoSense: Self-Supervised Learning for Multimodal Robot Perception
Anthony Bisulco, Jeremy Wang, Kostas Daniilidis +2
We present OctoSense, an open-source sensor platform with stereo RGB and event cameras, LiDAR, a thermal camera, an inertial measurement unit, RTK-corrected global positioning syst…
Reinforcement Learning for Flow-Matching Policies with Density Transport
Boshu Lei, Kostas Daniilidis, Antonio Loquercio
We present an online reinforcement learning (RL) algorithm for fine-tuning flow-matching policies in continuous-control problems. Our key insight is to view RL-based policy improve…
ActiveGrasp: Information-Guided Active Grasping with Calibrated Energy-based Model
Boshu Lei, Wen Jiang, Kostas Daniilidis
Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose ge…
VGGT-HPE: Reframing Head Pose Estimation as Relative Pose Prediction
Vasiliki Vasileiou, Panagiotis P. Filntisis, Petros Maragos +1
Monocular head pose estimation is traditionally formulated as direct regression from a single image to an absolute pose. This paradigm forces the network to implicitly internalize…
HELIOS: Hierarchical Exploration for Language-Grounded Interaction in Open Scenes
Katrina Ashton, Chahyon Ku, Shrey Shah +5
Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic info…